
#include <gtest/gtest.h>
#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"

#include "Bullet3OpenCL/RigidBody/kernels/solverUtils.h"

extern int gArgc;
extern char** gArgv;

namespace
{
	struct CompileBullet3JacobiContactSolverKernels : public ::testing::Test 
	{
		cl_context			m_clContext;
		cl_device_id		m_clDevice;
		cl_command_queue	m_clQueue;
		char*				m_clDeviceName;
		cl_platform_id		m_platformId;

		CompileBullet3JacobiContactSolverKernels()
			:m_clDeviceName(0),
			m_clContext(0),
			m_clDevice(0),
			m_clQueue(0),
			m_platformId(0)
		{
				// You can do set-up work for each test here.
			b3CommandLineArgs args(gArgc,gArgv);
			int preferredDeviceIndex=-1;
			int preferredPlatformIndex = -1;
			bool allowCpuOpenCL = false;


			initCL();
		}

		virtual ~CompileBullet3JacobiContactSolverKernels() 
		{
			// You can do clean-up work that doesn't throw exceptions here.
			exitCL();
		}

		// If the constructor and destructor are not enough for setting up
		// and cleaning up each test, you can define the following methods:

		#include "initCL.h"


		virtual void SetUp() 
		{


			// Code here will be called immediately after the constructor (right
			// before each test).
		}

		virtual void TearDown() 
		{
			// Code here will be called immediately after each test (right
			// before the destructor).
		}
	};

	TEST_F(CompileBullet3JacobiContactSolverKernels,jacobiContactKernels)
	{

		cl_int errNum=0;
		const char* additionalMacros="";
		
		cl_program solverUtilsProg= b3OpenCLUtils::compileCLProgramFromString( m_clContext, m_clDevice, solverUtilsCL, &errNum,additionalMacros, 0,true);
		ASSERT_EQ(errNum,CL_SUCCESS);


		{
			cl_kernel k =  b3OpenCLUtils::compileCLKernelFromString( m_clContext, m_clDevice, solverUtilsCL, "CountBodiesKernel", &errNum, solverUtilsProg,additionalMacros );
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}

		{
			cl_kernel k  = b3OpenCLUtils::compileCLKernelFromString( m_clContext, m_clDevice, solverUtilsCL, "ContactToConstraintSplitKernel", &errNum, solverUtilsProg,additionalMacros );
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}

		{
			cl_kernel k  = b3OpenCLUtils::compileCLKernelFromString( m_clContext, m_clDevice, solverUtilsCL, "ClearVelocitiesKernel", &errNum, solverUtilsProg,additionalMacros );
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}

		{
			cl_kernel k  = b3OpenCLUtils::compileCLKernelFromString( m_clContext, m_clDevice, solverUtilsCL, "AverageVelocitiesKernel", &errNum, solverUtilsProg,additionalMacros );
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}

		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString( m_clContext, m_clDevice, solverUtilsCL, "UpdateBodyVelocitiesKernel", &errNum, solverUtilsProg,additionalMacros );
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}

		
		{
			cl_kernel k  = b3OpenCLUtils::compileCLKernelFromString( m_clContext, m_clDevice, solverUtilsCL, "SolveContactJacobiKernel", &errNum, solverUtilsProg,additionalMacros );
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}

		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString( m_clContext, m_clDevice, solverUtilsCL, "SolveFrictionJacobiKernel", &errNum, solverUtilsProg,additionalMacros );
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}
		clReleaseProgram(solverUtilsProg);

	}	
};
